A contract is written up between two parties out of fear that one will not be able to hold up his end of the deal, as in the case of impoverishment death, or forfeit. While this practice may be recommended between two people when it comes to GD none of the above concerns applies.
pg 461
Nefesh Hachaim
Waiting to learn Torah and serve GD until one is engulfed in the love of GD with perfect concentration and intentions is discouraged as it will lead to neglecting one's obligations. On the other hand "Fear of Heaven is the portal to Emunah, the foundation that the entire world rests on and the root of all the other mitzvot". says, Rebbe Shimon. Without fear of heaven, one cannot serve GD, attain kedusha, learn Torah, or do mitzvot. "One who lacks the fear of Heaven has nothing at all" Shemos Rabbah.
Gater Four Chapter 4 pg 140/141
